JP2000206864A - Driving simulation device - Google Patents

Abstract

(57) [Problem] To provide a driving simulation device capable of obtaining a steering feeling equivalent to that of a real vehicle. An electric power steering motor is driven according to a second control signal corresponding to a road surface reaction torque, and a steering torque generated at that time is detected by a torque sensor.
The first control signal calculation unit 109 obtains a first control signal for obtaining an appropriate torque corresponding to the vehicle speed, and controls the drive of the electric power steering motor 107 according to the first control signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving simulation device having an electric power steering mechanism and performing a simulation according to a driver's operation.

[0002]

2. Description of the Related Art Conventionally, a driving simulation device has been known as a device used for skill training of a driver, research and development of an automobile, and the like. This driving simulation device supports a cockpit for the driver to board and perform various operations, a screen that displays a scene including the traveling path and other vehicles on the front of the driver using computer graphics, and a cockpit. It is basically composed of a motion base for swinging the cockpit in accordance with the operation of the driver, and a control unit for controlling the motion base.
No. 48872).

[0003] By the way, in a driving simulation device, it is required that the operational feeling of various operation systems be the same as that of an actual vehicle. However, in a steering device of a driving simulation device without a road surface and tires,
Since there is no road surface reaction force, the same steering feeling as a real vehicle cannot be obtained. Therefore, it is conceivable that an actuator such as an electric motor is attached to a steering shaft to artificially apply a steering reaction force (see Japanese Patent Application Laid-Open No. H7-234628). This requires complicated control in consideration of friction and the like, and increases costs.

[0004]

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned disadvantages, and an object of the present invention is to provide a driving simulation apparatus capable of obtaining a steering feeling equivalent to that of a real vehicle. .

[0005]

According to the present invention, a road surface reaction torque in an actual vehicle is calculated based on signals from a steering wheel, an accelerator, a brake and the like operated by a driver. Generating a second control signal for obtaining road surface reaction torque to drive the steering assist means;
The steering torque generated thereby is detected, a first control signal based on the steering torque is generated, the first control signal is added to the second control signal, and the steering assist means is driven again based on the added value. Thus, an assist force that takes into account the road surface reaction force is applied to the steering wheel.

In the present invention, a steering torque corresponding to a driver's operation is calculated, and a control signal for obtaining the steering torque is generated to drive a steering assist means.
The steering wheel is given an assist force that takes into account the road surface reaction force.

[0007]

FIG. 1 shows a driving simulation apparatus 10 according to the present embodiment. The driving simulation apparatus 10 includes a motion base 12, a cabin 14 placed on the motion base 12, a cabin 1
And a cockpit 16 housed in the interior of the vehicle.

On the other hand, the driving simulation device 10
The whole is controlled by a host computer 18. The host computer 18 includes a motion controller 20 that controls the motion base 12 to swing based on a driver's operation, various operating devices in the cockpit 16, and the host computer 18. Cockpit interface unit 2 for exchanging many signals between
2, an acoustic controller 24 for providing the driver with a virtual sound effect while traveling, and a CG generator 26 for providing the driver with a simulation image including a traveling road and other vehicles using computer graphics. Are connected by a LAN (Local Area Network) 28 which is a network circuit. The cockpit 16 has a screen synthesizing device 3 for synthesizing a plurality of screens related to the simulation.
0 is connected, and the screen synthesized by the screen synthesizing device 30 is displayed on the display 32 of the operator. Further, the external speaker 3 is provided in the cockpit 16.
4 is connected, and the voice of the driver is transmitted to the operator using the speaker 34.

As shown in FIG. 2, the motion base 12 has three lower support bars 36a-36 connected in a triangular shape.
36c and three upper support bars 3 connected in a triangular shape
8a to 38c and six cylinders A connecting the lower support bars 36a to 36c and the upper support bars 38a to 38c.
To F basically. Each of the cylinders A to F includes a ball screw mechanism that connects each vertex of the triangle formed by the lower support bars 36a to 36c and each vertex of the triangle formed by the upper support bars 38a to 38c. That is, the cylinders A to F are
And a rod portion 42 inserted into the cylindrical portion 40 and swingably connected to the upper support bars 38a to 38c. A male screw (not shown) is formed on the outer peripheral portion of the rod portion 42 on the lower support bar 36a to 36c side, and the male screw is screwed to a female screw member (not shown) provided in the cylindrical portion 40. The female screw member is configured to be rotatable by cylinder drive motors 44 </ b> A to 44 </ b> F mounted on the outer peripheral portion of the cylindrical portion 40.

On the upper portions of the upper support bars 38a to 38c,
The guide brackets 46a to 46f are fixed so as to be on the same circumference.
The rotary table 48 is rotatably supported at the positions .about.46f.
An upper support bar 38 is provided on the lower surface of the turntable 48.
The table drive motor 52 is mounted via the mounting plate 50 mounted at the center of the parts a to c. A motor driver 56 is disposed at the center of the lower support bars 36a to 36c via a mounting plate 54. This motor driver 5
6 is a cylinder drive motor 44A-44 for each of the cylinders AF.
The drive control of 44F and the table drive motor 52 is performed.

The cabin 14 disposed above the motion base 12 is rotatably supported by a turntable 48 mounted on the motion base 12. That is, as shown in FIGS. 3 to 5, the cabin 14 includes a roll angle φ, a pitch angle θ, and a yaw angle 各 around the X, Y, and Z axes by the cylinders A to F constituting the motion base 12. And the rotary table 48
Swingably constituted by the yaw angle [psi _Y around the Z axis by. Further, the cabin 14 is movable in each of the front and rear, left and right, and up and down directions.

The cabin 14 surrounds a cockpit 16 housed in the cabin 14 in a substantially light-shielding state by a wall surface, and entrances 62 and 64 having light-shielding curtains 58 and 60 are provided near the door of the cockpit 16. Can be As shown in FIG. 6, a front screen 66 and a left screen 6 for forming a simulation image of the traveling road are provided in front of the cockpit 16 and in front and left and right.
8 and right screen 70 are arranged. Cabin 14
6 to 8, two front projectors 72L and 72L facing the front screen 66, as shown in FIGS.
R, two left projectors 74L and 74R facing the left screen 68, and right projectors 76L and 76R facing the right screen 70 are arranged. These 6
Stand front projectors 72L, 72R, left projectors 74L, 74R, and right projectors 76L, 76R.
Is connected to the CG generator 26. In addition, two front projectors 72L, 72L correspond to the front screen 66, the left screen 68, and the right screen 70, respectively.
R, the left projectors 74L, 74R and the right projectors 76L, 76R are arranged as shown in FIG.
This is because the simulation image is three-dimensionalized by the polarizing glass 77 worn by the driver.

As shown in FIGS. 6 and 9, the cockpit 16 is provided with various operating devices by the driver, various sensors, and the like. That is, in the cockpit 16, as in the case of the actual vehicle, a combination switch 82 for operating the steering wheel 80, the turn signal, etc., the shift lever 84, the side brake 86, the seat belt 88, the brake pedal 90, the accelerator pedal 9
2, an air conditioning fan 94, meters 96 such as a speedometer and a tachometer, an operation switch 98 for operating a siren or the like in an emergency vehicle, an interior light 100, and the like.

As shown in FIG. 10, the steering wheel 80 has a steering angle sensor 102 such as a potentiometer and a rotary encoder for detecting the turning angle of the steering wheel 80, and converts the rotational motion of the steering wheel 80 into a reciprocating motion. A steering gear box 106 is connected. A steering gear box 106 provided with an electric power steering device as a steering assist means includes a steering wheel 80.
A torque sensor 103 as steering torque detecting means for detecting the steering torque of the steering wheel, a pinion 104 and a rack 105 for converting the rotational motion of the steering wheel shaft into a linear motion, and are coaxially arranged on the rack 105;
An electric power steering (EPS) motor 107 for driving a ball nut mechanism provided on the rack 105 is built in, and an electric power steering (EPS) motor 107
Is an electric power steering control unit (EP
The drive is controlled by an S-ECU (108).

The electric power steering control unit 108 controls the electric power based on a steering torque signal of the steering wheel shaft 104 detected by the torque sensor 103 and a vehicle speed signal supplied from the host computer 18 via the cockpit interface unit 22. An electric power steering (EPS) that includes a first control signal calculation unit 109 that calculates a first control signal for controlling the power steering motor 107 and that drives the electric power steering motor 107 based on the target current. A motor driver 111 is provided. A switch SW1 and an adder 113 are connected in series between the first control signal calculation unit 109 and the EPS motor driver 111. The switch SW1 is ON / OFF controlled according to a SW1 control signal supplied from the host computer 18 via the cockpit interface unit 22. A switch SW2 is provided between the cockpit interface unit 22 and the adder 113.
Is connected. A second control signal for controlling the electric power steering motor 107 is supplied to the adder 113 via the switch SW2. Note that the switch SW
2 is turned on / off in accordance with the SW2 control signal supplied from the host computer 18.

Here, in the configuration relating to the steering wheel 80 and the electric power steering control unit 108, the difference from the actual vehicle is that the rack 105
Tie rods and wheels are not attached to both ends of the
The switches SW1 and SW2 and the adder 113 are added to the program of the electric power steering control unit 108, and the other configuration is the same as that of the actual vehicle.

The brake booster 90 has a brake booster 1
10, master cylinder 112, brake caliper 1
14, the negative pressure tank 116 and the master cylinder 112
And a negative pressure pump 118 for supplying a negative pressure to the brake booster 110 via the. The master cylinder 112
The brake caliper 120 for the rear wheel is similarly connected. The master cylinder 112 includes an ABS (anti-lock braking system) control unit 1
28 is connected, thereby performing anti-lock control of the brake. A throttle opening sensor 122 is connected to the accelerator pedal 92. A shift position sensor 124 is connected to the shift lever 84, and a seat belt attachment detection sensor 126 is connected to a portion where the seat belt 88 is attached.

In the cockpit 16, there is further provided a specific component as the driving simulation apparatus 10 of the present embodiment. That is, above the driver's seat, an LCD display 130 for a rearview mirror that displays a simulation image of the rear of the vehicle,
D displays 132L and 132R, a microphone 134 for transmitting a driver's voice to an external operator, and a speaker 1 for transmitting an effect sound such as a running sound during the simulation operation and the operator's voice to the driver.
36, a driver image C disposed near the rear-view mirror LCD display 130 and photographing the state of the driver.
The camera includes a CD camera 138, a foot video CCD camera 140 for photographing the brake pedal 90 and the accelerator pedal 92, and a steering video CCD camera 142 for photographing the vicinity of the steering wheel 80. In addition, in the vicinity of the footstep CCD camera 140,
An illumination lamp 144 is provided. In addition, cockpit 16
Inside, a battery 146 for supplying auxiliary power to the driving simulation device 10, an emergency stop switch 148 for stopping the simulation operation by the driver, and a connection between the cockpit 16 and the host computer 18. A cockpit interface unit 22 for transmitting and receiving signals via the LAN 28 is provided.

Next, the configuration of the control system of the driving simulation apparatus 10 will be described with reference to FIGS.

In FIG. 11, the host computer 18
Is connected to the motion controller 2 via the LAN 28.
0, a LAN interface 160 for transmitting and receiving signals between the cockpit interface unit 22, the acoustic controller 24, and the CG generator 26, and a vehicle motion calculation unit 1 for calculating vehicle motion information based on a driver's operation.
62, a scenario storage unit 164 for storing various simulation scenarios, a microphone 168 for talking with the driver, and a keyboard 170 and a display 172 for performing various setting processes and monitoring by the operator.

In FIG. 12, the CG generator 26 includes:
As described above, the front projectors 72L, 72R and the left projectors 74L, 74 disposed in the cabin 14 are provided.
R, right projector 76L, 76R, rear view mirror L
The CD display 130 and the LCD displays 132L and 132R for the door mirror are connected respectively.

In FIG. 13, a speaker 136 is connected to the acoustic controller 24 via an acoustic amplifier 135 in the cockpit 16. The screen synthesizing device 30 includes a driver image CCD camera 138 in the cockpit 16,
The foot image CCD camera 140 and the steering image CCD camera 142 are connected, and the CG generator 26 is connected. The cockpit interface unit 22 includes a speedometer 161, a tachometer 163, a negative pressure pump 118, an electric power steering control unit (EPS-ECU) 108,
BS control unit (ABS-ECU) 128,
Steering angle sensor 102, throttle opening sensor 122, brake pressure sensor 169, negative pressure pump pressure sensor 171, shift position sensor 124, key position sensor 173, seat belt wearing detection sensor 12
6. Door sensor 174, side brake switch 17
6, headlight switches 178 and 180, small light switch 182, blinker switch 184, hazard switch 186, horn switch 188, emergency stop switch 148, front and rear G sensor 190, side G sensor 19
2, upper and lower G sensor 194, roll rate sensor 196,
The pitch rate sensor 198 and the yaw rate sensor 200 are respectively connected.

In FIG. 14, each of the cylinder driving motors 44A to 44F is connected to the motion controller 20 via a motor driver 56. Each of the cylinder drive motors 44A to 44F has a stroke sensor 202A to
202F are connected, and those signals are supplied to the motion controller 20. The table driver motor 52 is connected to the motor driver 56,
The rotation angle of the table drive motor 52 is
04 and is supplied to the motion controller 20. Further, an emergency stop switch 166 for emergency stopping the operation of the motion base 12 is connected to the motion controller 20.

The driving simulation apparatus 1 of the present embodiment
0 is basically configured as described above,
Next, the operation will be described with reference to the flowcharts shown in FIGS.

First, an operator operates the keyboard 170 or the like of the host computer 18 to activate the driving simulation apparatus 10. When the driving simulation device 10 is started, the host computer 1
8 initializes each state of the driving simulation apparatus 10 (step S1).

Next, the host computer 18 connects to the LAN
From the interface 160 to the motion controller 20 via the LAN 28, the cylinder drive motor 44A
Ｆ44F are transmitted. The cylinder drive motors 44A to 44F move the rod portions 42 constituting the cylinders A to F based on the drive command signals to the lower support bars 36a.
To the side of .about.36c to initialize a stroke sensor (not shown) having no absolute position, such as a rotary encoder provided in the cylinders A to F. That is, the rod portion 4
2 is lowered, and the position of the rod portion 42 when the limit switches (not shown) provided in the cylinders A to F are turned on is set as an initial position (the lowest position), and the output of the stroke sensor at that position is set to an initial value. (Step S2).

Next, based on a drive command signal from the host computer 18, the cylinder drive motors 44A-44
When F is driven again, the rod portions 42 of the cylinders A to F rise by a predetermined amount, and the cabin 14 moves to the boarding position (step S3). At this position, the driver gets on and off, changes, and the like.

After the cabin 14 is set at a predetermined position, the operator sets training conditions (step S4). In this case, examples of the training conditions include selection conditions such as city area driving training, highway driving training, and circuit driving training, and selection conditions such as daytime driving, nighttime driving, and driving in fog.

After completing the setting of the training conditions, the host computer drives the cylinders A to F and
Moves from the boarding position set in step S3 to a predetermined training start position (step S5). Specifically, the cylinders C to F disposed in front of the cabin 14 are mainly driven, and the cabin 14 is set in a state of rising forward. That is, when comparing the rising amount of the front portion at the time of sudden start of the vehicle and the descending amount of the front portion at the time of sudden braking, the descending amount of the front portion at the time of sudden braking is larger, and accordingly, the moving range is smaller. However, by raising the front portion of the cabin 14 in advance, it is possible to sufficiently secure the movable effective range of the cylinders A to F.

After the cabin 14 is set to the training start state as described above, the driver operates various operating devices in the cockpit 16 to start training (step S).
6).

The control operation of the host computer 18 will now be described with reference to the flowchart shown in FIG.

In this case, the front screen 66, the left screen 68, and the right screen 70 in the cabin 14 store a simulation image of the start position of the scenario selected from the scenario storage unit 164 based on the training conditions set by the operator. It is created by the CG generator 26 and is projected by the front projectors 72L, 72R, the left projectors 74L, 74R, and the right projectors 76L, 76R. Also, an LCD display 130 for the rearview mirror in the cockpit 16 and a L for the door mirror are provided.
Simulated images of the rear part of the vehicle are similarly formed on the CD displays 132L and 132R.

When the driver turns on the ignition, a signal from the key position sensor 173 is supplied to the host computer 18 via the cockpit interface unit 22. Next, the driver operates the shift lever 8.
4. The training is started by operating the accelerator pedal 92, the brake pedal 90, the steering wheel 80, and the like, and the respective operation signals generated with the training are supplied to the host computer 18 via the cockpit interface unit 22 (step S20). ). The host computer 18 that has received the operation signal generated by the driver's operation from the cockpit 16 starts the vehicle motion calculation processing in the vehicle motion calculation unit 162 (step S21).

That is, as shown in FIG. 16, the vehicle motion calculation unit 162 of the host computer 18 sends a signal from the throttle opening sensor 122 supplied from the cockpit interface unit 22 via the LAN 28 and a signal from the brake pressure sensor 169. Signal, signal from steering angle sensor 102, shift position sensor 124
, The longitudinal displacement α _X , the lateral displacement α _Y , the vertical displacement α _Z , the roll angle, the pitch angle, and the yaw angle, which are the motion information of the actual vehicle, are obtained based on the signals from the vehicle.

Next, the host computer 18 performs four processes of a motion process, a cockpit process, a CG process, and a sound process in parallel based on the calculation result of the motion information of the actual vehicle in step S21.

In the motion processing, step S2
The target position X, Y, Z and attitude (roll angle φ, pitch angle θ, yaw angle ψ, ψ _Y ) of the cabin 14 of the driving simulation device 10 are obtained from the motion information of the actual vehicle obtained in step 1.
Is obtained by calculation (step S22A). The yaw angle ψ is a high frequency component of the yaw angle controlled by the cylinders A to F, and the yaw angle ψ _Y
Is the low frequency component of the yaw angle controlled by Then, the host computer 18 outputs a position / posture target value, which is a result of these calculations, to the motion controller 20 via the LAN 28 (step S23A).

The motion controller 20, which has received these target values, converts them into strokes S of the cylinders A to F.
_A to S converted to _F and the yaw angle is a rotation angle signal of the rotary table 48 [psi _Y, driving each cylinder drive motors 44A~44F and table drive motor 52 controls the motor driver 56. As a result, motion base 1
The cockpit 16 in the cabin 14 supported on the upper 2 swings according to the operation of the driver.

In the cockpit process, a signal for controlling various operating devices in the cockpit 16 is output based on the calculation result of the motion information of the actual vehicle obtained in step S21 (step S22B). For example, the host computer 18 determines the speedometer 161 and the tachometer 16 based on the depression amount of the accelerator pedal 92 detected by the throttle opening sensor 122.
A display value such as 3 is calculated and transmitted to the cockpit interface unit 22. The cockpit interface unit 22 reads these display values and transmits them to meters 96 in the cockpit 16. Cockpit 16
The meters 96 in the inside perform a desired display based on the transmitted signal.

Further, in the cockpit processing, the host computer 18 controls the electric power steering control unit 108 via the cockpit interface unit 22 and
, A suitable torque equivalent to that of the real vehicle is generated, and the driver is given the same steering feeling as the real vehicle. The processing will be described with reference to FIG.

First, the host computer 18 supplies a SW1 control signal and a SW2 control signal to the electric power steering control unit 108 via the cockpit interface unit 22, and the switches SW1,
Set SW2 to the ON state.

In this state, the host computer 1
The vehicle motion calculation unit 162 receives signals from the steering angle sensor 102, the throttle opening sensor 122, the brake pressure sensor 168, and the shift position sensor 124 from the cockpit interface unit 22 via the LAN 28, and The motion of the vehicle is calculated based on the operation-related signal, and the resulting vehicle speed signal is output to the cockpit interface unit 22 via the LAN 28 and supplied to the first control signal calculation unit 109 of the electric power steering control unit 108. Further, the steering torque generated by the driver operating the steering wheel 80 is transmitted to the torque sensor 103.
And input to the first control signal calculation unit 109. The first control signal calculation unit 109 generates a first control signal (assist torque signal) based on the input vehicle speed and steering torque.

Thus, the operation as a normal electric power steering, that is, the assist according to the vehicle speed can be performed.

Further, in the present embodiment, the second control signal (road reaction torque signal) corresponding to the road reaction force and the first control signal are added, and the sum is supplied to the electric power steering control unit 108. A steering feeling equivalent to that of a vehicle is obtained. That is, from the result of the vehicle motion calculated by the vehicle motion calculation unit 162 of the host computer 18, a road surface reaction torque that will be generated at the pinion 104 is calculated, and the cockpit interface is generated as a second control signal (road surface reaction torque signal). LA on 22
Output through N28. The second control signal (road surface reaction torque) input to the cockpit interface 22 is:
Switch SW of electric power steering unit 108
The signal is output to the adder 113 via 2. In the electric power steering control unit 108, the first control signal (assist control signal) and the second control signal (road surface reaction torque signal) are input to the adder 113 via the switches SW1 and SW2, respectively, are added, and are added. Output to the motor driver 111 for power steering (EPS).
Thereby, the driver can obtain the same steering feeling as that of the actual vehicle including both the road surface reaction torque and the assist torque. Further, in this embodiment, the same steering gear box 106 as that of the actual vehicle is used, so that the steering feeling due to mechanical friction and the like can be made the same as that of the actual vehicle.

In the above method, the first control signal is generated by the first control signal calculating section 109 to operate the electric power steering mechanism. The included control signal may be obtained by the vehicle motion calculation unit 162 of the host computer 18. In this case, the electric power steering control 108 turns off the switch SW1,
SW2 is turned on, and the control signal is output to the EPS motor driver 111 to drive and control the electric power steering motor 107. Thereby, similarly, the same steering feeling as that of the actual vehicle can be obtained.

If any abnormal situation occurs during the simulation, the switch SW
By turning off both 1 and SW2, the electric power steering mechanism can be made inoperative and the steering torque can be reduced to zero.

In the CG processing, the host computer 1
8 obtains information on the position and direction of the other vehicle based on the calculation result of the motion information of the real vehicle and the scenario obtained in step S21 (step S22C), and generates the CG via the LAN 28 together with the information on the own vehicle. Output to the device 26 (steps S23C and S24C). CG generator 26
Forms a simulation image including a traveling road, another vehicle, and the like based on the information, and generates the front projectors 72L and 7L.
2R, left projector 74L, 74R, right projector 76L, 76R, LCD display 1 for rearview mirror
30, transfer image signals to the door mirror LCDs 132L and 132R, respectively. Based on these image signals, images according to the driver's operation are formed in the cabin 14 and the cockpit 16.

In the sound processing, the host computer 1
8 is based on the calculation result and the scenario of the motion information of the real vehicle obtained in step S21, and the state, position,
Information on the direction and speed is obtained (step S22D), and these information are output to the acoustic controller 24 via the LAN 28 together with information on the own vehicle (step S23).
D, S24D). The sound controller 24 outputs a sound effect from the speaker 136 in the cockpit 16 via the sound amplifier 135 based on the information. Here, the state includes engine speed, tire squeal sound, horn, siren, and the like.

While the above processing is being performed, the display 3 arranged in front of the operator
17, an image (CG) formed on the front screen 66 in the cabin 14, an image of the driver (DRIVER) photographed by the driver's image CCD camera 138, and a foot image as shown in FIG. Image of the operation state of the brake pedal 90 and the accelerator pedal 92 photographed by the CCD camera 140 (PEDAL), and an image of the operation state of the steering wheel 80 photographed by the CCD camera 142 for steering video (STEERI)
NG) is displayed in a state of being synthesized by the screen synthesis device 30. The operator can grasp the training state of the driver based on this image.

When the predetermined training is completed as described above, it is checked with the driver whether or not to continue the training by changing the scenario (step S7).
Returning to step S4, the training conditions are reset. Also,
If not, the process proceeds to step S8.

If it is determined in step S8 that the driver has been changed, the flow returns to step S3 to move the cabin 14 to the boarding position. When the training is not continued and the driver is not changed, the cabin 14 is moved to the boarding position (step S9), and the training using the driving simulation device 10 is completed.

Here, in the driving simulation apparatus 10 of the present embodiment, the host computer 18, the motion controller 20, the cockpit interface unit 22, the acoustic controller 24, and the CG generator 26
Although a large number of signals are exchanged between them, since the exchange of these signals is performed via the LAN 28, the line is significantly simplified. As a result, a large amount of signals can be transmitted and received, and a driving simulation in a state closer to a real vehicle can be performed. In addition, because of the LAN configuration, it is extremely easy to change or abolish connected control devices, and it is possible to provide the operation simulation device 10 with high flexibility in changing the configuration.

In the above-described embodiment, the motion base 12 is swung in accordance with the operation of the driver. You may make it.

As described above, the driving simulation apparatus (10) according to the present invention provides a driving simulation apparatus (10) for performing a simulation according to the operation of the driver, in which the steering torque generated when the steering wheel (80) is steered. Torque detection means (torque sensor 103) for detecting a torque, first control signal generation means (first control signal calculation section 109) for generating a first control signal based on the steering torque, Second control signal generating means (vehicle motion calculating unit 16) for calculating a corresponding road surface reaction force and generating a second control signal for obtaining the road surface reaction torque.
2) and a steering assisting means (steering gear box 106) for adding the first control signal and the second control signal and assisting the steering operation of the steering wheel based on the added value. You.

The operation simulation (1) of the present invention
0) A driving simulation device (10) for performing a simulation according to a driver's operation, wherein a control signal for calculating a steering torque in an actual vehicle corresponding to the driver's operation and obtaining the steering torque is provided. Signal generation means (vehicle motion calculation unit 162) for generating the steering wheel, and steering assist means (steering gear box 10) for assisting the steering operation of the steering wheel based on the control signal.
6).

Further, the steering assist means of the driving simulation device (10) of the present invention is constituted by an electric power steering device (a steering gear box 106, an electric power steering unit 108).

[0056]

As described above, with the driving simulation apparatus according to the present invention, it is possible to obtain a steering feeling equivalent to that of a real vehicle in consideration of the road surface reaction force. Further, since the simulation can be performed using the electric power steering mechanism having the same configuration as that of the real vehicle including the control, a steering feeling very close to that of the real vehicle can be obtained. further,
Since the electric power steering mechanism and control of the actual vehicle can be used, the cost can be reduced.

[Brief description of the drawings]

FIG. 1 is an overall configuration block diagram of a driving simulation device.

FIG. 2 is an exploded perspective view of a motion base and a cabin.

FIG. 3 is an explanatory view of rolls of a cabin.

FIG. 4 is an explanatory diagram of a cabin pitch.

FIG. 5 is an explanatory diagram of yaw of a cabin.

FIG. 6 is a configuration perspective view of a cockpit in a cabin.

FIG. 7 is an explanatory plan view of a projector arranged in a cabin.

FIG. 8 is an explanatory diagram of a side arrangement of a projector in a cabin.

FIG. 9 is an explanatory diagram of various operation devices in the cockpit.

FIG. 10 is a control circuit block diagram of the electric power steering mechanism.

FIG. 11 is a configuration block diagram of a control system of the entire operation simulation apparatus.

FIG. 12 is a configuration block diagram of a control system including a projector in a cabin.

FIG. 13 is a configuration block diagram of a control system including various operation devices and sensors in a cockpit.

FIG. 14 is a configuration block diagram of a motion-based control system.

FIG. 15 is a processing flowchart of the driving simulation device.

FIG. 16 is a processing flowchart in a subroutine shown in FIG. 15;

FIG. 17 is an explanatory diagram of a process flow from a vehicle motion calculation process by a host controller to a motion-based control by a motion controller.

FIG. 18 is an explanatory diagram of a monitoring screen displayed on a display of an operator.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Driving simulation apparatus 12 ... Motion base 14 ... Cabin 16 ... Cockpit 18 ... Host controller 20 ... Motion controller 22 ... Cockpit interface unit 24 ... Sound controller 26 ... CG generator 28 ... LAN 30 ... Screen synthesizer 32 ... Display 80 ... Steering wheel 90 Brake pedal 92 Accelerator 102 Steering angle sensor 103 Torque sensor 104 Steering wheel shaft 105 Tie rod 106 Steering gear box 107 Motor for electric power steering 108 Electric power steering control unit 109 First Control signal calculation unit 111 ... EPS motor driver 114, 120 ... Brake caliper 122 ... Throttle opening sensor 128 ... ABS control unit 138 ... CCD camera for driver image 140 ... CCD camera for foot image 142 ... CCD camera for steering image 148 ... Emergency stop switch AF ... Cylinder

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Osamu Yamamoto 1-4-1 Chuo, Wako-shi, Saitama Prefecture Inside Honda R & D Co., Ltd. (72) Inventor Takashi Nishihara 1-4-1-1 Chuo, Wako-shi, Saitama Inside the Honda R & D Co., Ltd. (72) Inventor Hiroshi Nishi 1-4-1 Chuo, Wako-shi, Saitama Prefecture Inside the Honda R & D Co., Ltd. (72) Mitsuya Serizawa 1-4-1 Chuo, Wako-shi, Saitama No. Inside Honda R & D Co., Ltd. (72) Inventor Yuichi Hashimoto 1-4-1 Chuo, Wako-shi, Saitama Pref. Inside Honda R & D Co., Ltd. (72) Toyotaka Torii 1-4-1 Chuo, Wako-shi, Saitama Pref. No. Within Honda R & D Co., Ltd. (72) Inventor Akihiko Otsu 1-4-1 Chuo, Wako-shi, Saitama Pref. Inside Honda R & D Co., Ltd. (72) Inventor Takuya Sakai Saitama 1-4-1, Chuo, Wako-shi, Honda R & D Co., Ltd. Hiroyuki Kawagoe 1-4-1, Chuo, Wako-shi, Saitama Pref. In Honda R & D Co., Ltd.

Claims (3)

[Claims] 1. A driving simulation apparatus for performing a simulation according to a driver's operation, comprising: a steering torque detecting means for detecting a steering torque generated when a steering wheel is steered; and a first control signal based on the steering torque. First to generate
A control signal generating means for calculating a road surface reaction force corresponding to the driver's operation and generating a second control signal for obtaining the road surface reaction torque;
Driving characterized by comprising: a control signal generating means; and a steering assist means for adding the first control signal and the second control signal and assisting a steering operation of the steering wheel based on the added value. Simulation device. 2. A driving simulation device for performing a simulation according to a driver's operation, wherein a control signal generating means for calculating a steering torque corresponding to the driver's operation and generating a control signal for obtaining the steering torque. And a steering assisting means for assisting a steering operation of the steering wheel based on the control signal. 3. The driving simulation apparatus according to claim 1, wherein said steering assist means is an electric power steering apparatus.